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ubuntu に R をインストールしようとしましたが、次のエラーが発生しました。

Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 r-base : Depends: r-base-core (>= 3.0.0-2lucid) but it is not going to be installed
          Depends: r-recommended (= 3.0.0-2lucid) but it is not going to be installed
          Recommends: r-base-html but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

これを行う前に、この行も /etc/apt/sources.list に追加しました

# added from cran.cnr.berkley.edu for R
deb http://cran.cnr.berkeley.edu/bin/linux/ubuntu lucid/

しかし、更新しようとすると、認証エラーが発生しました。

...
Reading package lists... Done
W: GPG error: http://cran.cnr.berkeley.edu lucid/ Release: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 51716619E084DAB9

この問題を解決する方法はありますか?

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